增加发车状态上发

app/by_fan_control.c

@@ -78,10 +78,10 @@ void by_pwm_init(void)
     // pwm_init(FAN_LS_PWM_B_PIN, 40000, 0);
     // pwm_init(FAN_RS_PWM_A_PIN, 40000, 0);
     // pwm_init(FAN_RS_PWM_B_PIN, 40000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 30000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 50000, 0);
-    pwm_init(FAN_LB_PWM_B_PIN, 30000, 0);
+    pwm_init(FAN_LB_PWM_B_PIN, 50000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 30000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 50000, 0);
-    pwm_init(FAN_RB_PWM_B_PIN, 30000, 0);
+    pwm_init(FAN_RB_PWM_B_PIN, 50000, 0);
 }
 
 /**

app/by_frame.c

@@ -22,7 +22,7 @@ void by_frame_init(void)
 void by_frame_send(uint32_t* data_array)
 {
     uint16_t crc_cal            = 0;
-    const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t);
+    const uint8_t data_byte_num = 1 * sizeof(uint32_t);
 
     frame_buffer_send[0] = BY_FRAME_HEAD_1;
     frame_buffer_send[1] = BY_FRAME_HEAD_2;

app/jj_motion.c

@@ -6,6 +6,7 @@
 #include "jj_blueteeth.h"
 #include "by_fan_control.h"
 #include "by_imu.h"
+#include "by_frame.h"
 
 PID_TypeDef far_angle_pid;
 PID_TypeDef pos_pid;
@@ -103,9 +104,9 @@ int32_t pwm_duty_ls;
 int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
-int stop_have = 0;
+uint32_t stop_have = 0;
-float qd_down = 0.0f;
+float qd_down      = 0.0f;
-float last_gy = 0.0f;
+float last_gy      = 0.0f;
 /*
 0:无状态
 1:弯道
@@ -146,16 +147,15 @@ void sport_motion()
 
     if (imu660ra_acc_z <= 800) {
         cnt7++;
-
     } else {
         cnt7 = 0;
     }
-    if (cnt7 >= 50) {
+    if (cnt7 >= 100) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("ting");
     }
     // 斑马线停车
-    if (1 == in_stop && stop_have == 1) {
+    if (1 == in_stop) {
         stop_flag = 1;
     }
     if (stop_flag == 1) {
@@ -169,10 +169,10 @@ void sport_motion()
         cnt1++;
         cnt2++;
         cnt5++;
-        cnt8++;
+        // 屏蔽斑马线
-        if (cnt8 >= 10000) {
+        if (stop_have == 0) {
             stop_have = 1;
-            cnt8=0;
+            by_frame_send(&stop_have);
         }
         // pid参数切换
         if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
@@ -231,8 +231,8 @@ void sport_motion()
         // 并级pid，限幅
         pwm_duty_ls = (int32_t)myclip_f(300 - out_pos, 100.0f, 500.f);
         pwm_duty_rs = (int32_t)myclip_f(300 + out_pos, 100.0f, 500.f);
-        pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 5000.f);
+        pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
-        pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f);
+        pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);
 
         by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
 
@@ -248,14 +248,14 @@ void sport_motion()
             cnt3++;
 
             if (in_state == 3) {
-                if (cnt3 >= 100) // 200ms
+                if (cnt3 >= 1000) // 200ms
                 {
                     bt_printf("to 环内");
                     cnt3_flag = 2;
                     cnt3      = 0;
                 }
                 if (in_speed > set_speed) {
-                    qd_down =  50;
+                    qd_down = 50;
                 } else if (in_speed > set_speed - 100) {
                     qd_down = 20;
                 } else {
@@ -293,12 +293,12 @@ void sport_motion()
 
             by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
         } else {
-            if (in_state == 1 ) {
+            if (in_state == 1) {
-                qd_down = 40;
+                qd_down = 50;
-            } else if(in_state == 3){
+            } else if (in_state == 3) {
-                qd_down = 70;
+                qd_down = 10;
-            }else{
+            } else {
-                qd_down=0;
+                qd_down = 0;
             }
 
             by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
@@ -327,11 +327,11 @@ void sport_pid_init()
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_gyro_pid, 20);
-    PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
 
     /* 速度控制 */
     PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
     PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&speed_pid, 20);
-    PID_SetOutputLimits(&speed_pid, -0.0f, 4500.0f);
+    PID_SetOutputLimits(&speed_pid, -0.0f, 6000.0f);
 }

app/main.c

@@ -63,6 +63,7 @@ int main(void)
     bt_printf("ok\r\n");
 
     while (1) {
+       
         // printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g);
         Page_Run();
         by_frame_parse(&test_data[0].u32);